Bosch Small Traffic Lights Dataset is a vision-based traffic light detection good to find small objects in large images.
Dataset is at http://k0b.de/bstld
Code to process this on github is at https://github.com/bosch-ros-pkg/bstld
Companions paper: K. Behrendt, L. Novak and R. Botros, "A deep learning approach to traffic lights: Detection, tracking, and classification," 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017, pp. 1370-1377, doi: 10.1109/ICRA.2017.7989163.